mathlib.h
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/****************************************************************************
*
* Copyright (C) 2012, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mathlib.h
*
* Target specific math functions and definitions
*
* @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
*/
#ifndef MATHLIB_H
#define MATHLIB_H
#ifdef ECL_STANDALONE
#ifndef M_PI_F
#define M_PI_F 3.14159265358979323846f
#endif
#ifndef M_PI_2_F
#define M_PI_2_F (M_PI / 2.0f)
#endif
#ifndef M_PI
#define M_PI 3.141592653589793238462643383280
#endif
namespace math
{
template <typename Type>
static constexpr Type min(Type val1, Type val2)
{
return (val1 < val2) ? val1 : val2;
}
template <typename Type>
static constexpr Type max(Type val1, Type val2)
{
return (val1 > val2) ? val1 : val2;
}
template <typename Type>
static constexpr Type constrain(Type val, Type min, Type max)
{
return (val < min) ? min : ((val > max) ? max : val);
}
template <typename Type>
static constexpr Type radians(Type degrees)
{
return (degrees / Type(180)) * Type(M_PI);
}
template <typename Type>
static constexpr Type degrees(Type radians)
{
return (radians * Type(180)) / Type(M_PI);
}
} // namespace math
#else
#include <mathlib/mathlib.h>
#endif // ECL_STANDALONE
#endif // MATHLIB_H